US7263210B2 - Method and system for volume-specific treatment of ground and plants - Google Patents

Method and system for volume-specific treatment of ground and plants Download PDF

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US7263210B2
US7263210B2 US10/477,790 US47779003A US7263210B2 US 7263210 B2 US7263210 B2 US 7263210B2 US 47779003 A US47779003 A US 47779003A US 7263210 B2 US7263210 B2 US 7263210B2
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radiation
sensor
plants
travel
carrier
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US20040136139A1 (en
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Knut Kümmel
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

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  • the invention relates to a method for the treatment of the ground or soil] and plants as requirements dictate and in a volume-specific manner, especially by the application/metering or dosing] of spray agents like plant protective agents and/or fertilizers as well as water, the working of the soil, under-growth cultivation and/or the processing and handling of plants, of trees, like roadway trees or forest trees or the like, limited area cultivations, especially vineyards and fruit orchards, hops, citrus, olives or the like, shrubs or bushes like bananas or the like, uniformly planted or nonuniformly planted regions, in which the plants are scanned with monochromatic pulsed laser beams generated by an individual sensor displaced in a circulatory path and projected onto the plants, using a traveling carrier on which the sensor is fixed, the reflected radiation spectrum is picked up from this sensor and in which the acquired spectrum is converted into optical signals and these signals are fed to a computer which scans the signals, evaluates them and controls the application/metering of the spray agent doses in dependence upon the vegetation state, the working of the
  • the invention relates further to a system for carrying out the invention with a traveling carrier, especially a vehicle and/or an agricultural machine coupled thereto.
  • a sensor affixed to the carrier with a radiation source for outputting a pulsed laser beam, a mirror rotatable about a vertical axis for directing the beam against leaf walls, a radiation receiver for collecting reflected radiation from the leaf walls, a computer for processing the reflected radiation and for controlling a spray device having nozzles fixed to the carrier, a supply vessel for sprayed agents, whereby the nozzles are arranged at a substantial distance from the sensor, a liquid pump for displacing the spray agent to the nozzle, valves for opening and closing the nozzles and a blower for producing a two-phase flow.
  • the invention relates also to a system for carrying out the method with a traveling carrier, especially a vehicle, and/or an agricultural implement coupled thereto, a sensor affixed on the carrier with a radiation source for outputting a pulsed laser beam, a mirror rotatable about a vertical axis for directing the beam onto leaf walls, a radiation receiver for collecting reflected radiation from the leaf wall, a computer for processing the reflected radiation and controlled by the computer an agricultural implement affixed to the carrier whereby at least one working element of the implement is substantially spaced at a given distance from the sensor.
  • blower spray units which apply liquid droplets of the atomized plant-protective agent in a two-phase free flow to the targeted surfaces of the plants, to the sides and above the spray device as it is transported past them.
  • the spray device thus travels along a path between plant rows.
  • the plants can be so cultivated that they form above the travel path closed vegetation cover, especially a pergola cover in the case of wine grapes or a hollow crown configuration in the case of orchards.
  • spray devices with ultrasonically-controlled nozzles (see DE 39 00 221 A1, DE 39 00 223 A1) or optically-controlled or laser-controlled nozzles (see DE 195 18 058 A1, EP-0 554 732 A1, EP 0 743 001 A1) are used.
  • These known devices have multiplicities of individual nozzles which are controlled by individual sensors. The individual sensors detect the presence of target surfaces in the sensing regions of the sensors.
  • a yes-no decision is derived for each height region so that the treatment of the plants can be immediately interrupted then and there where there is no plant-like target surface which can be reached by the spray jet of the device.
  • the plants are detected with individual sensors disposed one above another, preferably optical sensors, in a zonewise manner corresponding to the nozzles assigned to the different height regions of the plants.
  • the plants are thus recognized only in small strips in a sampling process over their heights.
  • horizontally growing branches or tendrils remain unrecognized. Any information as to distance for the respective spacing between nozzle and target which corresponds to the requisite travel path for the droplets of the sprayed agent is not available.
  • a setting of the sensor during a scanning cycle is determined in which the scanning cycle is a complete circuit of the laser beam around the axis of a spray path in a vertical scanning plane with a setting along the axis defined by the spray movement. Then a number of given spray regions are determined.
  • the spray regions have a predetermined direction and the spray heads arranged on the sprayer open to discharge the sprayed agent.
  • the operating regions, the angle and the spacing information are processed by a microprocessor to the appropriate movement range of the sprayer to take into consideration the tree height and the corresponding setting of the spray head for this height in a scanning measurement.
  • the sensor used in this known process includes a laser means for determining a range from the sensor to a collection of trees with foliage lying in a row and along which the sensor is moved and for outputting the corresponding output data as to this range, which has a sensor angle for each data output of the range, means for determining a travel stretch for the sensor along the foliage whereby the travel stretch represents the distance between the sensor spray heads, means for processing corresponding output data as to the range and the travel path for determining the presence and the signature of the detected foliage, whereby the processing means outputs control signals for conventional agricultural sprayers.
  • the rolling movement In the treatment of the spray edge zone of a plant crown, the rolling movement either gives rise to overspray of the leaf walls or a failure to treat the phytophylogically sensitive peak regions sufficiently at all with the spray agent.
  • DE 197 26 917 A1 describes a method for the contactless scanning of contours in which the contours above the ground are detected by means of a laser beam transmitter/receiver device which, while the agricultural machine is traveling, continuously detects distances to the contour across the scanning width and stores the values thereof. With a timing unit, a position determination is made.
  • an arrangement for the contactless detection of travel related data from spatially separated objects is obtained which move along a travel path, street or track branch as monitoring surfaces, in which a laser, a light receiver and an evaluation device are provided which carry out a distance measurement by means of optical transit time measurement, and can be provided with a scanning device which so deflects the laser beam that this describes the envelope of a cone in its circulatory movement, the axis of symmetry and this cone being orthogonal to or inclined to the monitoring surface.
  • the invention has as its object to improve upon a method and a system of the type described at the outset wherein the stand of planting is sensed in a spatial gap-free manner and the effect of the ground condition and plant condition can be taken into consideration simultaneously with morphological and plant physiological characteristics in a location-specific and technologically efficient manner.
  • FIG. 1 a schematic illustration of the sensor according to the invention
  • FIG. 1 a a schematic illustration of the arrangement of the sensor on the carrier
  • FIG. 2 a schematic illustration of the scanning of a stand of plants with laser beams
  • FIGS. 3 , 3 a and 3 b the process structure and the sequence of the method according to the invention.
  • FIG. 4 a diagram of the fundamentals of the ring storage used.
  • the method according to the invention is initially described with respect to a region with uniformly disposed plants of a limited area cultivation like wine grapes.
  • the system according to the invention for the volume specific application of spray agents, for treatment and for processing of plants in a limited area cultivation whose individual plants are disposed close together in rows defining travel paths between them is comprised basically of a traveling carrier 1 , for example a tractor, which supports a spray unit 2 , a blower for generating a two-phase flow, a central laser sensor 3 which rotates during travel of the carrier along the traveling path and a computer for processing all of the data obtained by the sensor.
  • a container for receiving a spray agent belongs to the sprayer 2 together with a feed pump for displacing the spray agent to the spray nozzle, and valves for opening and closing the nozzles. When the agricultural or soil-working] implements are used, these are fastened correspondingly to the traveling carrier 1 .
  • the sensor 3 comprises, as has been schematically illustrated in FIGS. 1 and 1 a , a mirror 4 ′ which is arranged to rotate about an axis A.
  • the mirror is inclined differently or at different angles] to the rotational axis A and is configured as a shaped mirror.
  • the mirror 4 ′ is so constructed from pie-shaped circular segments 5 and 6 that the segment 5 has an inclination of 45° with respect to the rotational axis A and the segment 6 , an inclination of 67.5° with respect to the rotational axis A, i.e. 22.5° to a normal to the rotational axis A.
  • the sensor 3 is comprised of a radiation source 7 and a receiver 8 .
  • the rotary displacement of the mirror 4 ′ is followed by a rotational angle measurement.
  • Light pulses produced by the radiation source 7 are distributed via the deflection mirror 4 and the shaped mirror 4 ′ in space within the travel path.
  • the objects which are encountered by the radiation beam reflect the radiation back via the deflecting mirror 4 and the shaped mirror 4 ′ and this radiation is focused by an optical system 9 onto the receiver 8 .
  • the sensor 3 has a free field of view or aperture] for the transmission and received beams, it must be so fixed on the carrier 1 that a sufficient field of view is ensured.
  • the sensor 3 acquires the plants of the strand laterally and above the sprayer 2 in a grid of laser scan points which, as the carrier 1 advances along its travel path, passes in a strip shape in a helical pattern along the plant row.
  • an angular resolution of, for example 1° vertical spacing of the scanning point of several cm on the foliage of plant rows with a row spacing of 5 m is possible without further effort.
  • measured values of a grid pattern of about 5 ⁇ 5 cm can be resolved with a high degree of resolution with travel speeds usually of 1 to 8 km/h.
  • the laser beam is so deflected in the travel direction vertically and forwardly to the side that it sweeps over a conical surface segment open in the travel direction.
  • This part of the laser beam encounters the lower regions of the plants along a line which encompasses objects lying next to one another horizontally.
  • the part of the conical surface segment which in the travel direction lies furthest vertically intersects the ground and forms the apex of hyperbola.
  • the invention also includes an arrangement in which the laser beam can be deflected opposite to the travel direction.
  • the rotational axis A of the shaped mirror 4 ′ lies eccentrically in the beam path 10 of the sensor 3 . Because of this eccentricity, the radiation-sweep plane of the emitted radiation oscillates by an amount corresponding to the eccentricity perpendicular to the main plane H. A corresponding offset is thus superimposed on the conical surface. The amplitude of the offset follows a full sine curve during one revolution of the shaped mirror 4 ′
  • Coarse values can be obtained with the aid of the distance measurement to further removed objects.
  • Objects which lie laterally in the field of view of the sensor 3 give rise to offsets relative to the position of the sensor from one angle segment to another whereby the path can be determine when the distance to the observed object is known.
  • the distance measurement must allow for a selection of significant objects by a filtering of the information with respect to the distance to objects which are recognizable laterally of the carrier 1 .
  • the beam from the pulsed infrared laser source is, as illustrated in FIG. 2 , deflected by the rotating shaped mirror 4 ′ for the upper scanning space by about preferably 90° from the beam direction and is distributed in a radiation plane in a circular pattern.
  • the infrared laser source 7 is thus so pulsed that, by means of the shaped mirror with a quasiuniform angular positioning (ratio of the light speed to the angular velocity of the mirror), the reflection signal from the beam-acquired objects is returned back to the receiver 8 of the sensor 3 .
  • the scanned region of the sensor does not lie in a single plane and encompasses a solid angle of more than one-quarter of a spherical segment.
  • the scan runs to the side and upwardly in a plane and for this region there is an angle of 45° between the shaped mirror 4 ′ and the rotational axis A.
  • the laser beam is deflected over a reflection angle of >45°.
  • the beam sweeps a conical surface which is directed forwardly in the direction of the travel path from the apex of the cone, whereby the conical axis intersects the travel path in the center of the track of the carrier 1 ahead of the latter.
  • the plant rows on the sides are scanned from a region of the beam in an approximately horizontal path or slightly inclined path.
  • the scanning plane of the radiation path with a 45° inclined mirror 4 ′ acquires the plants, especially wine grapes, in a pergola configuration or a Mediterranean arrangement with a hollow crown in a vertical direction laterally and above the carrier in a closed arc. Because of the eccentricity, the beam in the course of mirror rotation has superimposed thereon the afore described sinusoidal offset perpendicular to the travel curve. The amplitude is determined by the eccentricity of the mirror angle. Because of the rotational movement of the mirror 4 ′, the offset has always the same magnitude at each location of the travel curve and since this is taken into consideration, the offset does not bring with it any functional disadvantage.
  • the mirror 4 ′ of the sensor 3 is so configured that a planar and a spatially curved region can be used.
  • the shape and extent of the planar mirror region determines the optical characteristics of the sensor 3 in terms of range and sensitivity.
  • a spatially high resolution light-point grid (raster) of a laser beam from a central radiation source 7 avoids measurement errors which can arise when individual sensors are arranged along a line at different positions and as a result of the travel motion of the carrier.
  • the central sensor 3 can be positioned in this example in the region of the center of gravity of the carrier so that translation movements and radiation movements of the sensor itself as a consequence of intrinsic movements of the carrier 1 can be taken into consideration and corrected.
  • the space curve with which the region-around the carrier 1 ahead of, laterally of and above the carrier 1 is observed, has in the region of the transition from one mirror segment to the other, reduced optical power.
  • the stand of plants is always positioned especially close to the sensor 3 so that a reduced optical power is not a problem.
  • the arrangement of the sensor 3 is possible both on the carrier 1 and upon the implement.
  • the sensor 3 can not only be used to control the application of spray agents but is also capable of being used for horticultural purposes in limited area cultivation, nonuniform plantings with trees, shrubs, bushes or the like which today are monitored with different sensors and feelers to detect the grape stalks and trunks and are used for control (mowing, cutting of stalks, binding, deleafing of foliage regions, undercutting of weeds of the rows between trunks or stalks, mulching with grass and with pieces of wood, loosening, sowing, fertilizing and transport). It can especially be used to control the displacement of complete grape harvesters (number, color, ripeness and the like).
  • the system according to the invention is capable of use for automatic application processes. It eliminates the need for adjustment at the sensor and the carrier.
  • the data acquired with the system according to the invention and such information is useful especially advantageously for stock taking.
  • many different factors can be introduced and combined in order to achieve given production targets, including for example, cutting, binding, deleafing, thinning out of fruit, watering, fertilizing and the like. So that certain factors or combinations of factors can be used, the actual situation in the cultivation on the one hand and on the other, the expected or planned development of plants themselves as well as the environmental conditions including weathering, must be taken into consideration or are of significance.
  • georeferenced, locally specific data as to plants can be acquired and used as the basis for a cultivation matched to the locality with optimization of the horticultural processes and handling for the individual plants.
  • the effects of plant protective agents which are used and/or other cultivation features on the plants which are subjected to the treatment can be determined under the prevailing conditions individually, these conditions including the type of plant, the cultivation, training, fertilization, the climatic conditions, weathering.
  • the location of the row center form the location of the foliage peaks and the trunks/stalks relative to the travel path
  • Density especially foliage density, i.e. area obstruction of the leaves in the leaf wall of structure-forming crowns (without trees), sprout growth or comparison of contour and volume measurements with time,
  • Color from the level of the reflection signals based upon the assumption that the objects are similarly colored and that comparable distances from the sensor are comparably reflective.
  • the absolute color is thus not of interest but rather the relative course of the signal is of interest as a measure of the saturation of green coloration and thus the number of chlorophyll cells.
  • This distribution gives an indication of the plant feeding or the distribution thereof over the area of the cultivation. From the color distribution, especially in the blossoming of fruit trees, the distribution of the blossom density can be taken as an indicator of the alternance of the trees and the treatment to be matched thereto.
  • the reflection level of the received signal is a measure of the color, orientation and optical surface characteristics of the reflecting object.
  • a distribution of the optical signal over the area can be determined and used as a measurement for the vitality.
  • Natural green from a plant reflects light from the lower infrared portion of the spectrum significantly better than other objects (green peak in the reflection spectrum). This is dependent upon the type, the nutritive situation of the plants or the degree of ripeness of the fruit and so forth. If the degree of reflection of different lower infrared spectra are compared, it is possible to distinguish between chlorophyll-retaining enlivened plant parts and object retaining less chlorophyll like ripened fruit and objects which are not chlorophyll-retaining like fence posts.
  • the evaluation and utilization of signal level information presupposes that influences of the distance to the target object which can give rise to a spreading of the radiation and the reduction of the signal level is taken into consideration at increasing distances.
  • Differences in the reflection signal level can then be quantifiable when the spacing information is taken into consideration and it is understood that it represents comparable target objects, for example leaves of a comparable vegetation stand upon travel through that stand.
  • Signal level measured values at comparable measurement distances supply basic information as to color-dependent cultivation characteristics which can be taken into consideration during the working of the cultivation. Without a differentiation between different spectra, one can obtain indirectly through the course of the reflection signal level in space, an indication as to the distribution of vitality based upon the chlorophyll activity.
  • a laser beam encounters upon irradiation of a natural foliage wall individual or multiple leaves or sprouts in a random manner. This requires a special assignment of the corresponding distance information to the individual objects encountered by the beam.
  • a multiplicity of timing circuits are started simultaneously when the beam is transmitted. Each timing circuit has another level value at which the time is stopped (cascade). With this system, a multiplicity of transit times are measured for different reflection angles. The distance to partly encountered objects is thus determined. With the aid of such an arrangement it is possible to detect whether a particular reflection level arises from a target object alone or from various objects, in which case the value is reduced.
  • the vitality indication can thus be formed exclusively from reliable reflection values of individual objects.
  • the object color in plant cultivations varies within a stand of plants in the green region of the spectrum (yellow green, deep green, blue green, etc.) or in the case of a blossoming stand of apple trees in a white-pink region.
  • FIGS. 3 , 3 a and 3 b the course of the method according to the invention has been schematically diagramed.
  • the stand of plants is scanned with the laser sensor 3 as has been described previously and the travel data, position data and target location data as data as to the stand are interpreted in a data preprocessor and subjected to a data compression. From these data, the upper contour of the plant stand including gaps is determined. There is then a determination of the lower contour. In a further operating step, the median planes, the crown volume, the front contours and nonuniformities ( FIG. 3 b ) are determined. All of these data are conditioned and fed to a ring memory and are stored therein in intermediate storage.
  • the ring memory is defined from position to position, whereby the number of increments of the ring storage is greater than the number of increments which correspond to the spacing between sensor and nozzles.
  • a multiplicity of ring memories are provided for different data components.
  • the different ring memories give the data various ring storage positions free.
  • the data required for the respective treatment position is selected from the ring memories whereby the positions of the ring memories are determined by the travel position, location position, the distance to the target and the height of the position under consideration (beam deformation) (see FIG. 4 ).
  • the method according to the invention is employed for the treatment or working of such plants which in practice do not grow in a regular manner in rows.
  • a travel path as a reference is made through a first transit of the stand of plants based upon objects such as trees or the like which lie along the travel path and are of a marked or striking nature.
  • objects such as trees or the like which lie along the travel path and are of a marked or striking nature.
  • the localization of these objects allows repetitive travel along this track, for example, in deep forests, in old olive groves or citrus gardens.
  • the large trees are measured and estimated with the sensor 3 .
  • the light point grid sweeps the laterally lying vertical objects in a close three-dimensional sequence.
  • the inclined scanning plane ensures that a trunk is scanned from the top down in planar disk-shaped scans which are inclined from the upper region downwardly and horizontally.
  • the thus detected three-dimensional half shells of the trunk of the branches projecting therefrom make it possible to determine the useable volume and the lengths of such straight segments.
  • the growth of wood and thus the individual crop yield of each tree can be determined by repetitive measurement with a sufficient spacing in time.
  • the sections of the branches can be scanned to select for the individual growth of the individual trees, for example based upon different plant structures, reliability considerations or from the point of view of appearance and dead branches removed from consideration or old, sharply hanging branches, or younger lateral sprouts treated in a targeted manner.
  • the manual operations of tree maintenance can be automated and optimized in different directions. Comparable applications of the system according to the invention are possible for the harvesting of large plants, for example banana plantations, cacao trees or in natural rubber plantations.
  • the mentioned applications of the method according to the invention follows a particular travel path along which the plants are detected, localized and measured with the position determination of the plants described in detail previously, the travel track later can be reproduced in nonconsolidated tracts.
  • an evaluation and selection of the features of significance can be made like the removal of certain plants (trees), plant parts (branches, fruit and the like).
  • Example 2 An obvious other application of the method of the invention, namely the picking of grapes, follows the procedure outlined in Example 2.
  • a carrier 1 travels repeatedly along the same tracks and determines morphological and physiological signatures and the surrounding vines. From a comparison of the individual grape branches, the grapes are identified and based upon their reflection levels and their size, determinations are made as to a certain taste, degree of ripeness and material content.
  • geometric localization data is available relative to the sensor which can be used for controlling a harvesting gripper including shears for the separation of table grapes from the vine or the harvesting of wine grapes.
  • the system according to the invention enables the full harvester to be so guided between the vines that the shaking elements follow individual plants in their engagement geometries since the grapes ripen on the vine stalks at different heights, in different densities and number, the targeted spatial guidance of the picking elements of a full harvester increases the useful production of undamaged picked products (berries) and reduces the amount of vine twigs and plant parts which are shaken off the vines.
  • the grape picking thus can utilize physiological data of the grapes and can be carried out in multiple passes, each partially removing the grapes, including for example a prepicking and a final picking, leading overall to an exceptionally complete harvest.
  • the binding of the vine in the production of wine grapes utilizing a binding implement displace-able along the row is possible.
  • This implement can be mounted at the front of the carrier and arranged in the field of view of the travel so that the travel along the rows is effected utilizing the steering. Irregularities in the traveled track which previously could not have been detected by the driver nor taken into consideration to avoid collections of the plants and of the apparatus, including possible damage to the apparatus in the past could not be avoided.
  • the binder implement can be guided above and along the row so that all overhanging parts are acquired and collisions with the posts of the plant supports and the wires stretched between the posts can be reliably avoided.
  • the method of the invention can be used in fruit orchard layouts. All previous features of pruning, binding and harvesting are applicable to the individual fruit, the individual branch or limb. Pruning actions on fruit trees are usually carried out in the winter on fruit trees after loss of their leaves. The resulting transparency of the structure forming fruit trees allows the measurement and evaluation of the branches and limbs. The evaluation of the plant structure of each branch or limb requires a recognition of the edge thereof, its configuration and orientation to the trunk and its relationship to the sap flow. The history of the branching of an individual plant for pruning purposes can be obtained and the contribution to the visible blossom shoots precisely determined and evaluated.
  • the localization of a pruning implement projecting from the carrier is possible with the aid of the afore described 3D data in the same manner as the individual grape bunches are picked or for targeted deleafing for apple/citrus fruit harvesting.
  • the soil-working and undergrowth maintenance is included in the travel of the apparatus through the plant stand. With the ring storage described in greater detail in FIG. 4 , control of soil-working tools and undergrowth maintenance tools is possible in the same way as has been described for the application of fertilizers for materials effected on the plants.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Cultivation Of Plants (AREA)
  • Catching Or Destruction (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Guiding Agricultural Machines (AREA)
  • Compounds Of Unknown Constitution (AREA)
  • Fertilizers (AREA)
  • Soil Working Implements (AREA)
  • Breeding Of Plants And Reproduction By Means Of Culturing (AREA)
US10/477,790 2001-05-14 2002-05-14 Method and system for volume-specific treatment of ground and plants Expired - Fee Related US7263210B2 (en)

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DE101-23-301 2001-05-14
DE10123301 2001-05-14
DE10221948A DE10221948B4 (de) 2001-05-14 2002-05-13 Verfahren und System zum volumenspezifischen Beeinflussen von Boden und Pflanzen
PCT/DE2002/001777 WO2002091823A1 (de) 2001-05-14 2002-05-14 Verfahren und system zum volumenspezifischen beeinflussen von boden und pflanzen

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US20040136139A1 (en) 2004-07-15
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